From 58648f980e5aac9b4a5d24f03830994a75d24509 Mon Sep 17 00:00:00 2001
From: RicardoEA <ricardo@focus.uy>
Date: Thu, 27 Oct 2022 21:30:45 -0300
Subject: [PATCH] 2 Motor rotating and moving forward
---
Robotito/src/main.c | 22 ++++++++++++++--------
1 file changed, 14 insertions(+), 8 deletions(-)
diff --git a/Robotito/src/main.c b/Robotito/src/main.c
index 4e2c27a..3c7c29f 100644
--- a/Robotito/src/main.c
+++ b/Robotito/src/main.c
@@ -33,28 +33,34 @@ void app_main(void)
{
//1. mcpwm gpio initialization
- motor_h_t *mot;
+ motor_h_t *mot0;
+ motor_h_t *mot2;
- motor_install(26,27, MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0, &mot);
+ motor_install(26,27, MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0, &mot0);
+ motor_install(18,23, MCPWM_UNIT_1, MCPWM1A, MCPWM1B, MCPWM_TIMER_1, &mot2);
// pines de los motores
// Motor 0: 26,27 Encoder 0: 37, 39
// Motor 1: 25,33 Encoder 1: 36, 38
// Motor 2: 18,23 Encoder 2: 34, 35
//2. initial mcpwm configuration
printf("Configuring Initial Parameters of mcpwm...\n");
- motor_start(mot); //Configure PWM0A & PWM0B with above settings
-
+ motor_start(mot0); //Configure PWM0A & PWM0B with above settings
+ motor_start(mot2);
int inc = 10;
while (1) {
- motor_set_speed(mot, inc);
+ motor_set_speed(mot0, inc);
+ motor_set_speed(mot2, inc);
vTaskDelay(2000 / portTICK_RATE_MS);
- motor_stop(mot);
+ motor_stop(mot0);
+ motor_stop(mot2);
vTaskDelay(2000 / portTICK_RATE_MS);
- motor_set_speed(mot, -inc);
+ motor_set_speed(mot0, inc);
+ motor_set_speed(mot2, -inc);
vTaskDelay(2000 / portTICK_RATE_MS);
- motor_stop(mot);
+ motor_stop(mot0);
+ motor_stop(mot2);
vTaskDelay(2000 / portTICK_RATE_MS);
inc++;
--
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